EP3421172A1 - Système de commande de bras de robot - Google Patents

Système de commande de bras de robot Download PDF

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Publication number
EP3421172A1
EP3421172A1 EP16891506.4A EP16891506A EP3421172A1 EP 3421172 A1 EP3421172 A1 EP 3421172A1 EP 16891506 A EP16891506 A EP 16891506A EP 3421172 A1 EP3421172 A1 EP 3421172A1
Authority
EP
European Patent Office
Prior art keywords
workpiece
jig plate
robotic arm
screw
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16891506.4A
Other languages
German (de)
English (en)
Other versions
EP3421172B1 (fr
EP3421172A4 (fr
Inventor
Masatoshi Fujita
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Corp filed Critical Fuji Corp
Publication of EP3421172A1 publication Critical patent/EP3421172A1/fr
Publication of EP3421172A4 publication Critical patent/EP3421172A4/fr
Application granted granted Critical
Publication of EP3421172B1 publication Critical patent/EP3421172B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/12—Alignment of parts for insertion into bores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39129—One manipulator holds one piece, other inserts, screws other piece, dexterity

Definitions

  • the present invention relates to a robotic arm control system.
  • Patent Document 1 discloses an automatic screw fastening device for manufacturing a liquid crystal module in which a frame-shaped bezel is fixed to a backlight unit of a liquid crystal panel by screws. Specifically, when the liquid crystal module is conveyed from a preceding process to the front of the automatic screw fastening device by a conveyor before the screws are fixed, a controller of the automatic screw fastening device recognizes the position of screw holes of the bezel, and has a screw fastening unit automatically fasten the screws of the bezel.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2010-125553
  • the present invention has been made in order to solve the above-mentioned problem, and its main object is to increase the working efficiency when various types of workpieces are pressed by a jig plate.
  • the robotic arm control system of the present invention includes a first robotic arm and a second robotic arm for performing work on a workpiece having insertion portions at predetermined positions, an information reading unit for reading information about the workpiece or a workpiece type attached to a container on which the workpiece is placed, a jig plate seating unit for seating multiple types of jig plates, a storage unit for storing a correspondence relationship between workpiece type and jig plate type, and a controller for controlling the first robotic arm and the second robotic arm.
  • the controller controls the first robotic arm to take out a jig plate corresponding to the workpiece type read by the information reading unit from the jig plate seating unit, to place the jig plate on the workpiece, and to press down on the workpiece with the jig plate so that positions of guide holes provided in the jig plate coincide with positions of the insertion portions of the workpiece; and the controller controls the second robotic arm to use the guide holes of the jig plate, pressing down on the workpiece, for inserting insertion members into the insertion portions.
  • the first robotic arm takes out the jig plate corresponding to the workpiece type from the jig plate seating unit, places the jig plate on the workpiece so that the positions of the guide holes provided in the jig plate coincide with the positions of the insertion holes of the workpiece, and presses down on the workpiece with the jig plate. Further, using the guide holes of the jig plate pressing down on the workpiece, the second robotic arm inserts the insertion members into the insertion portions. Therefore, even if there are many types of workpieces, the jig plate corresponding to the workpiece type can be automatically taken out.
  • the lifting can be prevented by pressing down on the workpiece with a jig plate that is compatible with the workpiece. Consequently, working efficiency, when various types of workpieces are pressed down on with a jig plate, is improved.
  • the controller may controls the first robotic arm to take out the jig plate corresponding to the workpiece type from the jig plate seating unit after returning the current jig plate to the jig plate seating unit. In this way, the jig plate can be automatically replaced with a jig plate corresponding to the type of the workpiece.
  • the workpiece is a stacked body in which a first member having first fastening holes and a second member having second fastening holes are stacked so that the second fastening holes are disposed directly above the first fastening holes to constitute the insertion portions, the insertion members are fasteners, and the controller controls the second robotic arm to use the guide holes of the jig plate, pressing down on the workpiece, for guiding the fasteners to the second fastening holes and the first fastening holes so as to fasten the second member and the first member together with the fasteners.
  • the second member can be fastened by the fastener in a state in which the second member is stacked on the first member.
  • the fasteners are screws
  • the first fastening holes are screw holes which the screws engage with
  • the second fastening holes are screw insertion holes having a size such that a foot of each screw is inserted with play but a head of each screw cannot be inserted.
  • the workpiece is conveyed to the work position of the first and second robotic arms by a conveyor and is worked on by the first and second robotic arms while on the conveyor.
  • workpieces can be conveyed one after the other to the work position by the conveyor. Further, since it is not necessary to lift the workpieces, work efficiency increases.
  • FIG. 1 is a schematic illustration of a robotic arm control system 10
  • FIG. 2 is a perspective view showing a portion of a workpiece 50 which is an example of a workpiece W
  • FIG. 3 is a perspective view of a jig plate table 60 in which jig plates P are seated.
  • the robotic arm control system 10 includes a first robot 20, a second robot 30, a workpiece conveying device 40, the jig plate table 60, and a system controller 80.
  • the first robot 20 includes a first arm 21, a jig plate engaging unit 22, and a first camera 24.
  • the first arm 21 is a multi-axial robotic arm and is capable of horizontal rotation and vertical rotation in the directions of the arrows indicated by dashed-dotted lines shown in FIG. 1 for each axis.
  • the jig plate engaging unit 22 is attached to the distal end of the first arm 21.
  • the jig plate engaging unit 22 selects and engages one jig plate P from among multiple types of jig plates P seated on the jig plate table 60 and returns the held jig plate P to a predetermined seating position of the jig plate table 60.
  • the jig plate engaging unit 22 is provided with a pair of fingers 23, 23.
  • Each of the pair of fingers 23, 23 is a member extending in the vertical direction, and is horizontally moved in a direction approaching each other or horizontally moved in a direction separating from each other by a finger actuator (not shown).
  • the first camera 24 is disposed adjacent to the jig plate engaging unit 22 so as to be capable of capturing an image of a region below the distal end of the arm. Operations of the first arm 21, the jig plate engaging unit 22, and the first camera 24 are controlled by the system controller 80.
  • the second robot 30 includes a second arm 31, a screw fastening unit 32, and a second camera 34.
  • the second arm 31 is a multi-axial robotic arm and is capable of horizontal rotation and vertical rotation in the directions of the arrows indicated by dashed-dotted lines shown in FIG. 1 .
  • the screw fastening unit 32 is attached to the distal end of the second arm 31.
  • the screw fastening unit 32 fastens screws into the workpiece W conveyed to the work position by the workpiece conveying device 40.
  • the screw fastening unit 32 has a driver 33.
  • the driver 33 is mounted so that the longitudinal direction of the driver 33 coincides with the vertical direction and is rotated in a screw fastening direction by a driver actuator (not shown).
  • the driver 33 is configured to suck a screw to the tip of the driver 33 by a vacuum method.
  • the second camera 34 is disposed adjacent to the screw fastening unit 32 to be able to photograph a region below the distal end of the second arm 31. Operation of the second arm 31, the screw fastening unit 32, and the second camera 34 are controlled by the system controller 80.
  • the workpiece conveying device 40 is a conveyor belt for carrying in the workpiece W to the work position of the first robot 20 and the second robot 30 and for carrying out the finished workpiece W from the work position, and thus conveys the workpiece W in a direction perpendicular to the paper surface in FIG. 1 . Operation of the workpiece conveying device 40 is controlled by the system controller 80.
  • the workpiece 50 which is an example of the workpiece W, is shown in FIG. 2 .
  • the workpiece 50 is a stacked body in which a substrate 51 having a plurality (three in this case) of screw holes 52 in an upper surface thereof and a cylindrical component 53 integrated with a plate-like bracket 55, having a plurality (three in this case) of screw insertion holes 54 in the vertical direction, are stacked together.
  • the screw insertion holes 54 provided in the bracket 55 are disposed directly above the screw holes 52 of the substrate 51.
  • the component 53 is attached to the substrate 51 by putting screws through the screw insertion holes 54 provided in the bracket 55 and screwing the screws into the screw holes 52 of the substrate 51.
  • the bracket 55 has two reference marks 56 for alignment with the jig plate P.
  • a two-dimensional bar code 58 is attached to a portion of the substrate 51 where the component 53 is not placed.
  • the two-dimensional bar code 58 indicates the workpiece type.
  • the workpiece W is basically a stacked body in which components with brackets are stacked on a substrate, as in the case of the workpiece 50, and the shapes and positions of the brackets, the number and positions of the screw insertion holes, the shapes of the components, the number and positions of the substrates, and the like are different for each type.
  • the jig plate table 60 accommodates multiple types of jig plates P.
  • FIG. 3 shows an example in which the jig plate table 60 accommodates three types of jig plates P.
  • Each jig plate P has a shape corresponding to the workpiece W type.
  • the jig plate 70 on the left side in FIG. 3 corresponding to the workpiece 50 in FIG. 2 will be described.
  • the jig plate 70 is formed in the same shape as the bracket 55 of the workpiece 50 and is placed on the bracket 55 to press the bracket 55 against the substrate 51.
  • the jig plate 70 has guide holes 72 at positions corresponding to the screw insertion holes 54 and the screw holes 52.
  • the guide holes 72 are tapered holes that decrease in diameter downward.
  • the diameter of the lower side of the guide holes 72 is slightly larger than the diameter of the head of the screw to be used.
  • the jig plate 70 assists the insertion of the screws into the screw holes 52 via the screw insertion holes 54 using the guide holes 72.
  • the screw insertion holes 54 are designed to have a size such that the foot of the screw is inserted with play but the head of the screw cannot be inserted.
  • One corner of the jig plate 70 is provided with a tab 73, and the tab 73 is provided with a square hole 74 penetrating in the vertical direction.
  • the jig plate engaging unit 22 of the first robot 20 engages the jig plate 70 by using the square hole 74.
  • the system controller 80 is configured as a microprocessor built around a CPU 81 and includes ROM 82 for storing process programs, an HDD 83 for storing various data, RAM 84 used as workspace, and the like.
  • the HDD 83 stores a correspondence table 83T shows the correspondence between workpiece type and jig plate type. For example, workpiece type A corresponds to jig plate type a, and workpiece type B corresponds to jig plate type b.
  • production-related information i.e., various positional coordinates of the jig plate P on the jig plate table 60 (i.e., positional information for square holes, guide holes, and reference marks, etc.), the type of screws to be used, the coordinates of the screw supplying position to which the screws are supplied, etc. is also listed for each jig plate type.
  • the action of the jig plate engaging unit 22 to engage the jig plate P will be described below with reference to FIG. 4 .
  • the jig plate 70 shown in FIG. 3 will be described as an example of the jig plate P.
  • the system controller 80 has the first arm 21 dispose the pair of fingers 23 of the jig plate engaging unit 22 directly above the square hole 74 of the jig plate 70 seated on the jig plate table 60. At this time, the pair of fingers 23, 23 are brought close to each other, that is, in a closed state.
  • the system controller 80 has the first arm 21 insert the pair of fingers 23, 23 in the closed state into the square hole 74.
  • each finger 23 is the same as or slightly shorter than the depth of the square hole 74.
  • the system controller 80 has the jig plate engaging unit 22 horizontally move the pair of fingers 23, 23, inserted in the square hole 74, apart from each other. By doing so, the pair of fingers 23, 23 are opened and the outer surfaces of each finger 23 press against the inner wall surfaces of the square hole 74.
  • the jig plate 70 is engaged by the pair of fingers 23, 23, and the first arm 21 engages the jig plate 70 and carries the jig plate 70 to a predetermined position in three-dimensional space.
  • the system controller 80 When returning the jig plate 70 to the jig plate table 60, the system controller 80 places the jig plate 70 at a predetermined seating position of the jig plate table 60, and then closes the pair of fingers 23, 23 to separate the outer surfaces of each finger 23 from the inner wall surfaces of the square hole 74, and then raises the pair of fingers 23, 23 to withdraw the finger 23, 23 from the square hole 74.
  • FIG. 5 is a flowchart for the automatic screw fastening processing routine.
  • the CPU 81 of the system controller 80 first has the workpiece conveying device 40 carry the workpiece W into the work position of the first robot 20 and second robot 30 as shown in FIG. 1 (step S110). Subsequently, the CPU 81 reads the two-dimensional bar code attached to the workpiece W (step S120). Specifically, the CPU 81 controls the first arm 21 and disposes the first camera 24 above the two-dimensional bar code of the workpiece W, and controls the first camera 24 to capture an image of the two-dimensional bar code. Subsequently, the CPU 81 recognizes the type of the jig plate (step S130).
  • the CPU 81 recognizes the type of the workpiece W from the captured two-dimensional bar code image, and recognizes the type of the jig plate P corresponding to the type of the workpiece W from the correspondence table 83T (refer to FIG. 1 ) stored in the HDD 83. Subsequently, the CPU 81 obtains production-related information corresponding to the jig plate type (step S140). Specifically, the CPU 81 reads the production-related information corresponding to the jig plate type recognized in step S130 from the correspondence table 83T and obtains the production-related information.
  • the CPU 81 determines whether or not the first arm 21 is currently holding the jig plate P (step S150), and if the first arm 21 is not holding the jig plate P, the CPU 81 has the first arm 21 engage the current jig plate P (step S180). Specifically, the CPU 81 arranges the pair of fingers 23 of the first arm 21 directly above the square hole of the jig plate P based on the various positional coordinates of the jig plate P on the jig plate table 60 this time from the production-related information recognized in step S140, and engages the jig plate P with the pair of fingers 23 according to the above-described engaging procedure (refer to FIG. 4 ).
  • step S160 it is determined whether or not the jig plate P needs to be replaced. Specifically, the CPU 81 determines whether or not the type of the jig plate P currently held matches the type of the jig plate recognized in step S130. It is determined that replacement is not necessary if there is a match, and replacement is necessary if there is no match.
  • step S160 If replacement of the jig plate P is required according to step S160, the CPU 81 returns the jig plate P held by the first arm 21 to the predetermined seating position on the jig plate table 60 (step S170), and then proceeds to step S180 to have the first arm 21 engage the current jig plate P.
  • step S180 the CPU 81 presses the workpiece W with the jig plate P held by the first arm 21 (step S190). Subsequently, the CPU 81 has the second arm 31 and the screw fastening unit 32 screw the workpiece W (step S200).
  • steps S190, S200 in the case where the workpiece W is the workpiece 50 of FIG. 2 and the jig plate P, corresponding to the workpiece W, is the jig plate 70 of FIG. 3 , will be described below. These processes are executed in a state in which the workpiece 50 is placed on the conveyor belt of the workpiece conveying device 40.
  • FIGS. 6 and 7 are operation process diagrams of these processes.
  • the CPU 81 has the second camera 34 of the second arm 31 capture an image of the workpiece 50 from above the workpiece 50, and recognizes the positions of the two reference marks 56 provided on the bracket 55 of the workpiece 50 based on the image obtained by capturing the image.
  • the CPU 81 has the first arm 21 position the jig plate 70 such that the two reference marks 76 of the jig plate 70 held by the first arm 21 coincide with the two reference marks 56 of the workpiece 50.
  • the three guide holes 72 of the jig plate 70 are disposed directly above the three screw insertion holes 54 of the bracket 55 of the workpiece 50 and the screw holes 52 of the substrate 51 (see FIG. 6(a) ).
  • the CPU 81 lowers the jig plate 70 and presses down the bracket 55 of the workpiece 50 on the jig plate 70 (refer to FIG. 6(b) ).
  • bracket 55 Since the bracket 55 is a thin plate, a part of the bracket 55 may be lifted from the substrate 51 of the workpiece 50 conveyed to the work position (refer to FIG. 6(a) ). Even in such a case, since the bracket 55 is pressed down on by the jig plate 70, the lifting is eliminated and the bracket 55 is brought into close contact with the substrate 51.
  • step S200 the CPU 81 controls the second arm 31 and disposes the driver 33 of the screw fastening unit 32 at a screw supplying position to which a screw 90 of a type corresponding to the workpiece 50 is supplied.
  • the head 92 of the screw 90 is then sucked to the tip of the driver 33 by a vacuum method (refer to FIG. 7(a) ).
  • the coordinates of the screw supplying position to which the screw 90 is supplied are included in the production-related information obtained in step S140.
  • the CPU 81 has the second arm 31 position the foot 94 of the screw 90 sucked by the driver 33 so that the screw 90 axis aligns with axis of the guide hole 72 of the jig plate 70 (refer to FIG. 7(b) ).
  • the CPU 81 has the second arm 31 lower the driver 33. Then, the foot 94 of the screw 90 sucked by the driver 33 passes through the guide hole 72 of the jig plate 70 and the screw insertion hole 54 of the bracket 55, and reaches the screw hole 52 of the substrate 51. At this time, since the guide hole 72 is a tapered hole, the foot 94 of the screw 90 is led to the screw hole 52 as the screw 90 is guided by the side wall of the guide hole 72. Thereafter, the CPU 81 has the second arm 31 and the screw fastening unit 32 rotate the driver 33 and screw the foot 94 of the screw 90 into the screw hole 52 (refer to FIG. 7(c) ).
  • the bracket 55 of the workpiece 50 is fastened to the substrate 51 by the screw 90.
  • the CPU 81 has the screw fastening unit 32 stop rotation of the driver 33 along with having the driver 33 release suction on the screw 90, and then has the second arm 31 retract the driver 33 upward. Further, the CPU 81 has the first arm 21 retract the jig plate 70 upward.
  • step S200 the CPU 81 has the workpiece conveying device 40 carry out the workpiece W, to which screw fastening has been completed, from the work position (step S210). Thereafter, the CPU 81 determines whether or not all screw fastening operations have been completed (step S220), and if the screw fastening operations remain, step S110 and subsequent processes are executed again. On the other hand, if all screw fastening operations have been completed in step S220, the CPU 81 terminates the routine.
  • the robotic arm control system 10 of the present embodiment corresponds to a robotic arm control system; the first arm 21 and the second arm 31 correspond to a first and second robotic arm, respectively; the first camera 24 and the CPU 81 correspond to information reading units; the jig plate table 60 corresponds to a jig plate seating unit; the HDD 83 corresponds to a storage unit; and the CPU 81 corresponds to a controller.
  • a jig plate P corresponding to the type of the workpiece W to be worked on is taken out from the jig plate table 60 after the current jig plate P is returned to the jig plate table 60. Therefore, it is possible to automatically replace the jig plate P with a jig plate P corresponding to the type of workpiece.
  • the component 53 with the bracket 55 having the screw insertion hole 54 can be automatically screwed to the substrate 51 having the screw hole 52. Since the bracket 55 may be lifted from the substrate 51, the present invention is highly applicable.
  • the workpiece W is conveyed to the work position of the first arm 21 and the second arm 31 by the conveyor belt of the workpiece conveying device 40 and is worked on by the first arm 21 and the second arm 31 while on the conveyor belt. Therefore, workpieces W can be conveyed to the work position one after another by the conveyor belt. Further, since it is not necessary to lift the workpiece W, work efficiency increases.
  • the square hole of the jig plate P and the pair of fingers 23, 23 are used for engaging the jig plate P, but the invention is not particularly limited to this.
  • a holder similar to a nozzle holder having an L-shaped notch disclosed in FIG. 6 of WO2015/111156 may be provided in the jig plate engaging unit 22.
  • the jig plate P may be provided with a round hole instead of the square hole, wherein a pair of pins protruding in the radial direction of the hole may be provided so as to face each other and the pair of pins may be detachably engaged by a holder.
  • the jig plate engaging unit 22 may detachably engage the jig plate P by excitation and demagnetization of an electromagnet.
  • the workpiece W is conveyed to the conveyor belt of the workpiece conveying device 40, but the workpiece W may be conveyed by the conveyor belt of the workpiece conveying device 40 while on a workpiece holding plate.
  • the two-dimensional bar code may be affixed to the workpiece W as described above, or may be affixed to the workpiece holding plate.
  • the two-dimensional bar code is used in the embodiment described above, a striped bar code or an RF tag in which ID information is embedded may be used.
  • the present invention is not particularly limited thereto.
  • the present invention may be applied to a workpiece in which the first arm 21 presses a workpiece having a female connector (insertion portion) with a jig plate, and the second arm 31 inserts a male connector (insertion member) into the female connector.
  • the present invention may be applied to an operation in which the first arm 21 presses a workpiece having a slot (insertion portion) with a jig plate and the second robot 30 fits a component (insertion member) into the slot.
  • the present invention can be applied to a device for automatically fastening screws, a device for automatically inserting a male connector into a female connector, and the like.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
EP16891506.4A 2016-02-26 2016-02-26 Système de commande de bras de robot Active EP3421172B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/055767 WO2017145349A1 (fr) 2016-02-26 2016-02-26 Système de commande de bras de robot

Publications (3)

Publication Number Publication Date
EP3421172A1 true EP3421172A1 (fr) 2019-01-02
EP3421172A4 EP3421172A4 (fr) 2019-02-27
EP3421172B1 EP3421172B1 (fr) 2020-02-19

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EP (1) EP3421172B1 (fr)
JP (1) JP6674529B2 (fr)
CN (1) CN108698178B (fr)
WO (1) WO2017145349A1 (fr)

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JP7395381B2 (ja) * 2020-02-17 2023-12-11 川崎重工業株式会社 挿入良好度判定器、挿入良好度判定装置、ロボットシステム、及び挿入良好度判定方法。
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KR102182094B1 (ko) * 2020-08-28 2020-11-23 (주)제이렘 양팔 스카라로봇을 이용한 자동 볼트 체결장치
CN112192569A (zh) * 2020-10-09 2021-01-08 常熟云开智能科技有限公司 一种打磨机器人自动识别工件、自动更换夹具的控制方法
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CN108698178A (zh) 2018-10-23
EP3421172A4 (fr) 2019-02-27
WO2017145349A1 (fr) 2017-08-31

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